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Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
Boundary-induced pattern formation from a spatially uniform state is investigated using one-dimensional reaction-diffusion equations. The temporal oscillation is successively transformed into a spatially periodic pattern, triggered by…
We propose a numerical method for fluid deformable surfaces governed by surface Stokes flow and Helfrich bending energy under active growth, aiming to model shape evolution of the epithelium in developmental processes. To prevent…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Interrupted X-ray computed tomography (X-CT) has been the common way to observe the deformation of materials during an experiment. While this approach is effective for quasi-static experiments, it has never been possible to reconstruct a…
Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…
Disordered mechanical systems can deform along a network of pathways that branch and recombine at special configurations called bifurcation points. Multiple pathways are accessible from these bifurcation points; consequently, computer-aided…
A single-step, single-material 4D printing method is developed for programmable structures featuring spatially patterned strain trapping for one-way actuation. This approach enables fabrication on desktop fused filament fabrication 3D…
One of the main applications of electromagnetic metasurfaces (MSs) is to tailor spatial field distributions. The radiation pattern of a given source can be desirably modified upon reflection on an MS having proper spatial modulation of its…
We explore a novel strategy of patterning nematic elastomers that does not require inscribing the texture directly. It is based on varying the dopant concentration that, beside shifting the phase transition point, affects the nematic…
The objective of this study is to address the difficulty of simplifying the geometric model in which a differential problem is formulated, also called defeaturing, while simultaneously ensuring that the accuracy of the solution is…
Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…
Morphing is the process of changing one figure into another. Some numerical methods of 3D surface morphing by deformable modeling and conformal mapping are shown in this study. It is well known that there exists a unique Riemann conformal…
We explore the influence of geometry in the critical behavior of sparse long-range spin models. We examine a model with interactions that can be continuously tuned to induce distinct changes in the metric, topology, and dimensionality of…
This paper proposes a method for automatically monitoring and analyzing the evolution of complex geographic objects. The objects are modeled as a spatiotemporal graph, which separates filiation relations, spatial relations, and…
The evolution of 3D visual content calls for innovative methods for modelling shapes based on their intended usage, function and role in a complex scenario. Even if different attempts have been done in this direction, shape modelling still…
Evolution in time-varying environments naturally leads to adaptable biological systems that can easily switch functionalities. Advances in the synthesis of environmentally-responsive materials therefore open up the possibility of creating a…
This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the…
A deformable body can rotate even with no angular momentum, simply by changing its shape. A good example is a falling cat, how it maneuvers in air to land on its feet. Here a first principles molecular level example of the phenomenon is…